SLIDE 1
If Ia Ia torque armature mmf ~ Ia ~ If field flux T = k f Ia
- a = k
f r Ia Ra V +
- +
STATOR FIELD
C S I
+
- Vr
Id +
- Vi
Rr Ld +
- V
Ia Ia armature mmf ~ Ia torque field flux ~ If + Ra + Ia T - - PowerPoint PPT Presentation
Ia Ia armature mmf ~ Ia torque field flux ~ If + Ra + Ia T - - PowerPoint PPT Presentation
If Ia Ia armature mmf ~ Ia torque field flux ~ If + Ra + Ia T = k f Ia V a = k - f r - STATOR Rr Ld FIELD + + + 3 phase V Id - C S I S M Vr Vi 50 Hz - - If r w Vr Rotor position
SLIDE 2
SLIDE 3
Rs + jXs I V Ep
- +
- IRs
V j Xs I Ep I
- Te = 3Np
EpIcos = t fIcos
- K
2 r
SLIDE 4
Re = 2 Rr
- 6
Rs I V cos + + +
- 2 Ii
- Ve=
Vr
- 3
Epcos Ep=Ke f r
SLIDE 5
- V
I Ep j Xs I
- I
V Ep j Xs I (a) (b)
SLIDE 6
d-axis q-axis Ifo Ido
- Iso
I qo Rs qo I Rs do I jXq qo I jXd do I Epo=-XdmIfo =- oLdmIfo
- salient pole SM
Vso d-axis q-axis Ifo Ido
- Iso
Iqo Rs qo I Rs do I jXs so I jXs do I Epo=-XmIfo =- oLmIfo
- smooth rotor
Vso jXs qo I (or po = j oLm fo) E I
- (or
po = j oLdm fo) E I
- SM
SLIDE 7
d q Vso p Ifo = jIfo I I qo=Iqo= so Teo=- NpLdmIfoIqo = NpEpoIso 3 3 2 2o jXq qo = jXqIqo I
SLIDE 8
X
3NpLdm 2 + +
- p(Ldm+Lfkd )
Rkd+pLkd
- Ikd(t)
Te If Iq
- If
Ikd(t) Te t
SLIDE 9
Stator Field
C S I
Ldc Rotor position 3 phase 50 Hz
S M
r commutation delay compensation torque reference (Iq w) Ii
- w=0
( -control)
- current
controller phase controller
SLIDE 10
3 phase 50 Hz ia w ib w ic w
CRPWM
transformation rotor to stator stator field rotor position
S M
torque reference field component (Iq w) (Id w) sin r
- cos r
SLIDE 11
Rs + Ep
- +
- d
Ir Is Ep Vs jXs s I q Is Vs j Ls
- Rs
+
- Is
Vs j Ldm
- j Ls
- Ir = jIf
Ir = jIf (a) (b) (c)
SLIDE 12
+
- Is
Vs j Lml
- j Ls
- Ir
+
- +
- +
- Es
E j Lr
- Rr
s Er Is
- r
I Er E Ir Im r m jXr r I (a) (b)
SLIDE 13
+
- Is
Vs j Lm
- Is
+
- Rs
Er . Lm Lr Rr s Lm Lr 2 . j Ls=j L s
- Is
Is Vs Is Is rs E I r =j m s
- L2
L2 r j Xs s
- I
Rs s I ( r=-Lm s ) I I Lr
(a) (b)
SLIDE 14
- Is
Is,s=0 Is,s>0 Is,s<0 Is Er
SLIDE 15
Is Isq Isd q d Irq=-LmIsq Lr rd
SLIDE 16
3 phase 50 Hz ia w ib w ic w
CRPWM
Transformation from synchronous to stator reference Stator
IM
torque reference flux reference (Isq w ) (Isd w ) sin r
- cos r
- r
Electrical and mechanical motor signals
C S I
Ii amplitude control phase control IM | |w I w r electrical and mechanical motor signals
(a) (b)
SLIDE 17
C FO CFO
motor signals (inputs) motor signals (inputs) “rotor flux computer” “field orienter” (resolver) “Flux-computer” and “field orienter”
- ra,
rb, rc
- f
r , r | r|
- arg
r = r
- | r|=√
- ( rq)2 + ( rd)2
- r = tan-1rq
rd
SLIDE 18
r r
CFO IM
c b a s = ( Vs - RsIs)dt
- r = Lr ( s- LsIs)
Lm ⌠ ⌡ c b a r r m m air-gap flux ia ib ic
CFO
IM
(a) (b)
SLIDE 19
Basic FO control within dashed lines ib w ic w ia w
CRPWM
T-1 Isq w Isd w torque controller flux controller r w r +
- r
CFO
motor signals
I M
r r Ia Ib Ic T torque calculaton Isq T r w Tw +
- 3 phase 50 Hz
phase control torque controller resolver flux controller r motor signals 3 phase 50Hz current control torque calculation
CFO T
T Ia Ib Ic r Basic FO control inside dashed lines Isq w Isd w +
- r
Isq r w Tw +
- CSI
- r
+
- Is
w
(a) (b)
SLIDE 20
÷
Rr Lr x 1 1+p Lr Rr Isd w (desired flux) Isq w (desired torque) s w
SLIDE 21
(torque reference) (flux reference) T-1 Isq w r ri s w s w Isd w ia w ib w ic w
CRPWM
I M
r slip calculation 1 p Lr Rr + +
SLIDE 22
r
- Isd
w Isq w flux reference torque reference slip calculation resolver
- |Iw|
+ + + r s
W
I Iw +
- CSI
current controller
SLIDE 23
Isd Isq1 Isq2
- Is2
Is1 Is e r
SLIDE 24
+
- Is
Vs j aLm
- j
Ls-a m)
- L
Rs j a2Lr-a m)
- L